Good sanitation is definitely important, but beer is pretty resilient.
When you want to take a sample for an sg reading, you just sanitize the thief and then pull your sample. Then close up the bucket, read the sample, and then drink it. Most things that will infect your beer aren't airborne, but bacteria and wild yeasts that are on surfaces. If you disinfect anything that touches the beer, you'll be fine.
When you sanitize your carboy, all you have to do is clean it first. Make sure it's clean to your eye and rinsed well. Then you can sanitize it by mixing up a gallon or so of water and your no rinse sanitizer, and slosh it all around, coating all the surfaces. No need to brush that. Then drain, and that's it. If you're using a no-rinse sanitizer, there is no need to dry it. Just rack the beer into it. Make sure you sanitize your bung and airlock as well.
Broken Leg Brewery
Giving beer a leg to stand on since 2006